update example / documentation (#49)

- fix #48, use float variables in example GY521_test_1.ino
- add **void calibrate(uint16_t times)** to API
- add **GY521_performance_calibrate.ino** example
- add **GY521_raw_cooked.ino** example
- make explicit that pitch roll yaw is work in progress.
- update readme.md
  - calibrate section
  - add some tables
- minor edits in examples

CHANGELOG.md

@@ -6,10 +6,21 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
 
+## [0.5.2] - 2024-01-16
+- fix #48, use float variables in example GY521_test_1.ino
+- add **void calibrate(uint16_t times)** to API
+- add **GY521_performance_calibrate.ino** example
+- add **GY521_raw_cooked.ino** example
+- make explicit that pitch roll yaw is work in progress.
+- update readme.md
+  - calibrate section
+  - add some tables
+- minor edits in examples
+
+
 ## [0.5.1] - 2023-12-11
 - redo initialization order.
 
-
 ## [0.5.0] - 2023-12-05
 - refactor API, begin()
 - update readme.md

GY521.cpp

@@ -1,7 +1,7 @@
 //
 //    FILE: GY521.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.5.1
+// VERSION: 0.5.2
 // PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
 //     URL: https://github.com/RobTillaart/GY521
 
@@ -66,6 +66,41 @@ void GY521::reset()
 }
 
 
+void GY521::calibrate(uint16_t times)
+{
+  //  disable throttling / caching of read values.
+  bool oldThrottle = _throttle;
+  _throttle = false;
+
+  //  set errors to zero
+  axe = aye = aze = 0;
+  gxe = gye = gze = 0;
+
+  for (uint16_t i = 0; i < times; i++)
+  {
+    read();
+    axe -= getAccelX();
+    aye -= getAccelY();
+    aze -= getAccelZ();
+    gxe -= getGyroX();
+    gye -= getGyroY();
+    gze -= getGyroZ();
+  }
+
+  //  adjust calibration errors so table should get all zero's.
+  float factor = 1.0 / times;
+  axe *= factor;
+  aye *= factor;
+  aze *= factor;
+  gxe *= factor;
+  gye *= factor;
+  gze *= factor;
+
+  //  restore throttle state
+  _throttle = oldThrottle;
+}
+
+
 bool GY521::wakeup()
 {
   _wire->beginTransmission(_address);
@@ -138,6 +173,7 @@ int16_t GY521::read()
   float _ay2 = _ay * _ay;
   float _az2 = _az * _az;
 
+  //  calculate angle
   _aax = atan(       _ay / sqrt(_ax2 + _az2)) * GY521_RAD2DEGREES;
   _aay = atan(-1.0 * _ax / sqrt(_ay2 + _az2)) * GY521_RAD2DEGREES;
   _aaz = atan(       _az / sqrt(_ax2 + _ay2)) * GY521_RAD2DEGREES;
@@ -159,10 +195,13 @@ int16_t GY521::read()
   _gy += gye;
   _gz += gze;
 
+  //  integrate gyroscope data
   _gax += _gx * duration;
   _gay += _gy * duration;
   _gaz += _gz * duration;
 
+  //  experimental below this line.
+  //  Pitch Roll Yaw are work in progress
   //  normalize
   //  _gax etc might loose precision after many iterations #36
   if (_normalize)
@@ -250,6 +289,7 @@ int16_t GY521::readAccel()
   float _ay2 = _ay * _ay;
   float _az2 = _az * _az;
 
+  //  calculate angles.
   _aax = atan(       _ay / sqrt(_ax2 + _az2)) * GY521_RAD2DEGREES;
   _aay = atan(-1.0 * _ax / sqrt(_ay2 + _az2)) * GY521_RAD2DEGREES;
   _aaz = atan(       _az / sqrt(_ax2 + _ay2)) * GY521_RAD2DEGREES;
@@ -318,6 +358,7 @@ int16_t GY521::readGyro()
   _gaz += _gz * duration;
 
 
+  //  experimental below this line.
   //  normalize
   //  _gax etc might loose precision after many iterations #36
   if (_normalize)

GY521.h

@@ -2,7 +2,7 @@
 //
 //    FILE: GY521.h
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.5.1
+// VERSION: 0.5.2
 // PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
 //     URL: https://github.com/RobTillaart/GY521
 
@@ -11,7 +11,7 @@
 #include "Wire.h"
 
 
-#define GY521_LIB_VERSION           (F("0.5.1"))
+#define GY521_LIB_VERSION           (F("0.5.2"))
 
 
 //  THROTTLE TIMING
@@ -37,18 +37,23 @@
 class GY521
 {
 public:
-  GY521(uint8_t address = 0x69, TwoWire *wire = &Wire); //  0x68 or 0x69
+  //  address == 0x68 or 0x69
+  GY521(uint8_t address = 0x69, TwoWire *wire = &Wire);
 
   bool     begin();
   bool     isConnected();
   void     reset();
 
+  //  EXPERIMENTAL
+  //  calibrate needs to be called to compensate for errors.
+  //  must be called after setAccelSensitivity(as); and setGyroSensitivity(gs);
+  void     calibrate(uint16_t times);
 
   bool     wakeup();
   //  throttle to force delay between reads.
   void     setThrottle(bool throttle = true) { _throttle = throttle; };
   bool     getThrottle()                     { return _throttle; };
-  //  0..65535 (max milliseconds == roughly 1 minute.
+  //  0..65535 max milliseconds == roughly 1 minute.
   void     setThrottleTime(uint16_t ti )     { _throttleTime = ti; };
   uint16_t getThrottleTime()                 { return _throttleTime; };
 
@@ -89,6 +94,9 @@ class GY521
   float    getGyroX()    { return _gx; };
   float    getGyroY()    { return _gy; };
   float    getGyroZ()    { return _gz; };
+
+  //  EXPERIMENTAL
+  //  pitch, roll and yaw is work in progress.
   float    getPitch()    { return _pitch; };
   float    getRoll()     { return _roll; };
   float    getYaw()      { return _yaw; };

LICENSE

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2017-2023 Rob Tillaart
+Copyright (c) 2017-2024 Rob Tillaart
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

README.md

@@ -16,13 +16,14 @@ Arduino library for I2C GY521 accelerometer-gyroscope sensor a.k.a. MCU-6050.
 
 ## Description
 
-Experimental library for GY521 a.k.a. MCU-6050.
+**Experimental** library for GY521 a.k.a. MCU-6050.
 
 Library is work in progress, in fact it is extracted and extended from an old project.
 It needs to be tested a lot more.
 
 See changelog.md for latest updates.
 
+
 #### 0.5.0 Breaking change
 
 Version 0.5.0 introduced a breaking change.
@@ -35,12 +36,25 @@ before calling **begin()**.
 #### Examples
 
 - **GY521_angle** read angleX, angleY, angleZ.
+- **GY521_performance_calibrate.ino** determine calibration performance.
 - **GY521_performance** measure performance.
 - **GY521_pitch_roll_yaw** to get pitch roll yaw.
-- **GY521_readCalibration_1** read calibration values / errors for a flat sensor.
+- **GY521_raw_cooked** make a table of raw measurements and derived data 
+for analysis e.g. in a spreadsheet.
+- **GY521_readCalibration_1** read calibration values / errors for a "flat" sensor.
 - **GY521_readCalibration_2** generate calibration code snippet.
 - **GY521_test_1** test working of the sensor.
-- **GY521_test_2** test set/get functions.
+- **GY521_test_2** test set/get functions (sort of unit test).
+- **GY521_two_sensors** demo for two sensors.
+
+
+#### Related
+
+- https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf
+- https://cdn.sparkfun.com/datasheets/Sensors/Accelerometers/RM-MPU-6000A.pdf  register map.
+- https://github.com/RobTillaart/Angle
+- https://github.com/RobTillaart/AngleConverter
+
 
 
 ## Breakout board
@@ -67,6 +81,16 @@ AD0 connected to VCC => 0x69
 
 ## Calibration (short version for now)
 
+Since version 0.5.2 the library has a build in **void calibrate(times)** function which
+can be called instead of manual calibration.
+This function overwrites the values of axe aye aze gxe gye gze.
+**calibrate()** must be called after **setAccelSensitivity(as)** and **setGyroSensitivity(gs)**.
+
+Note the **calibrate()** function takes time, depending on the number of times.
+
+
+#### Manual calibration
+
 1. load and run calibration example  
    it shows a header containing 6 numbers and 10 lines of 8 numbers
 1. wait until the middle 6 of the longer lines stabilize (should all be 0)
@@ -90,6 +114,18 @@ Note call **Wire.begin()** before **begin()**.
 - **bool wakeUp()** idem.
 
 
+### Calibrate
+
+- **void calibrate(uint16_t times)** This function overwrites the values of axe aye aze gxe gye gze.
+To get "quality error" offsets, the GY521 sensor should not move during the calibration.
+The parameter times determines the number of measurements made.
+Typical values are 100 or more.
+Please note this is a time consuming function.
+
+Ideal the function **calibrate()** should continue until it is stable (how to define) for n reads.
+Drawback is that this would make the duration unpredictable. 
+
+
 ### Throttle
 
 - **void setThrottle(bool throttle = true)** throttle to force "delay" between reads.
@@ -112,7 +148,8 @@ Note call **Wire.begin()** before **begin()**.
 
 #### Actual read
 
-- **int16_t read()** returns status = GY521_OK on success.
+- **int16_t read()** reads all core measurements.
+returns status = GY521_OK on success.
 - **int16_t readAccel()** read accelerometer only to speed up interaction. This call does update the throttle timer.
 returns status = GY521_OK on success.
 - **int16_t readGyro()** read gyroscope only to speed up interaction. This call does update the throttle timer.
@@ -132,7 +169,8 @@ In version 0.4.0 the normalization of pitch, roll and yaw is fixed and made cond
 
 #### Calls after read
 
-Note that multiple calls will return the same value. One must explicitly call **read()** to get new values. 
+Note that multiple calls will return the same value. 
+One must explicitly call **read()** to get new values. 
 
 - **float getAccelX()** idem.
 - **float getAccelY()** idem.
@@ -144,6 +182,12 @@ Note that multiple calls will return the same value. One must explicitly call **
 - **float getGyroX()** idem.
 - **float getGyroY()** idem.
 - **float getGyroZ()** idem.
+
+
+#### Experimental Pitch Roll and Yaw
+
+Pitch Roll and Yaw is work in progress and should not be used for projects yet.
+
 - **float getPitch()** idem. May return any number.
 If **setNormalize(true)** return value will be 0-359.999
 - **float getRoll()** idem. May return any number.
@@ -160,34 +204,76 @@ Read the register PDF for the specific value and meaning of registers.
 - **uint8_t getRegister(uint8_t reg)**
 
 
-## documents
+## Documents
+
+- check details registers - MPU-6000-Register-Map1.pdf
+
+
+#### Error codes
+
+|  Error code                 |  value  |  notes  |
+|:----------------------------|:-------:|:-------:|
+|  GY521_OK                   |    0    |  not an error
+|  GY521_THROTTLED            |    1    |  not an error
+|  GY521_ERROR_READ           |   -1    |
+|  GY521_ERROR_WRITE          |   -2    |
+|  GY521_ERROR_NOT_CONNECTED  |   -3    |
+
 
-- check details - MPU-6000-Register-Map1.pdf
+#### Sensitivity Acceleration
+
+unit g = gravity == 9.81 m/s^2
+
+| Acceleration  |  value  |  notes  |
+|:--------------|:-------:|:-------:|
+|      2 g      |    0    |  default
+|      4 g      |    1    |
+|      8 g      |    2    |
+|     16 g      |    3    |
+
+
+#### Sensitivity Gyroscope
+
+unit dps = degrees per second.
+
+|  Gyroscope    |  value  |  notes  |
+|:--------------|:-------:|:-------:|
+|   250 dps     |    0    |  default
+|   500 dps     |    1    |
+|  1000 dps     |    2    |
+|  2000 dps     |    3    |
 
 
 ## Operation
 
-See examples, use with care 
+See examples, use with care.
 
 
 ## Future
 
 #### Must
 
+- time
 - improve documentation
-  - add tables where appropriate
-  - sensitivity, error codes etc
+- investigate Pitch Roll and Yaw math in detail.
+  - investigate math needed.
+  - implementation.
+  - when?
 - test test and test ...(ESP too)
 
 #### Should
 
-- add performance sketch
+- test **calibrate()** function for different sensitivities.
 
 #### Could
 
-- calibrate sketch could print code snippet to include...
 - add examples
 - improve unit tests?
+- reorder code in read(), would that save some micros.?
+  - first all ax, then ay etc
+  - footprint / performance gain?
+- make enum for sensitivity Accel?
+- make enum for sensitivity Gyro?
 
 #### Wont
 
@@ -196,6 +282,9 @@ See examples, use with care
   - other ideas affect accuracy, so unless new ideas arise.
 - calibrate function in the lib
   - not as lib will grow too large.
+- defaults value for functions?
+  - user must set function parameters explicit
+
 
 ## Support
 

examples/GY521_angle/GY521_angle.ino

@@ -26,7 +26,7 @@ void setup()
   while (sensor.wakeup() == false)
   {
     Serial.print(millis());
-    Serial.println("\tCould not connect to GY521");
+    Serial.println("\tCould not connect to GY521: please check the GY521 address (0x68/0x69)");
     delay(1000);
   }
   sensor.setAccelSensitivity(2);  //  8g